Method, apparatus and system for automation of body weight support training (BWST) of biped locomotion over a treadmill using a programmable stepper device (PSD) operating like an exoskeleton drive system from a fixed base

ABSTRACT

A robotic exoskeleton and a control system for driving the robotic exoskeleton, including a method for making and using the robotic exoskeleton and its control system. The robotic exoskeleton has sensors embedded in it which provide feedback to the control system. Feedback is used from the motion of the legs themselves, as they deviate from a normal gait, to provide corrective pressure and guidance. The position versus time is sensed and compared to a normal gait profile. Various normal profiles are obtained based on studies of the population for age, weight, height and other variables.

CROSS REFERENCE TO RELATED APPLICATION

[0001] This application is a divisional application of Ser. No.09/643,134 filed Aug. 21, 2000 which claims the benefit of ProvisionalApplication Serial No. 60/150,085, filed 20 Aug. 1999.

STATEMENT REGARDING FEDERALLY SPONSORED R&D

[0002] The invention described herein was made in the performance ofwork under a NASA contract, and is subject to the provisions of PublicLaw 96-517 (35 U.S.C. §202) in which the contractor has elected toretain title.

FIELD OF INVENTION

[0003] The field of the invention is robotic devices to improveambulation.

BACKGROUND OF THE INVENTION

[0004] There is a need to train patients who have had spinal cordinjuries or strokes to walk again. The underlying scientific basis forthis approach is the observation that after a complete thoracic spinalcord transection, the hindlimbs of cats can be trained to fully supporttheir weight, rhythmically step in response to a moving treadmill, andadjust their walking speed to that of a treadmill. See, for example,Edgerton et al., Recovery of full weight-supporting locomotion of thehindlimbs after complete thoracic spinalization of adult and neonatalcats. In: Restorative Neurology, Plasticity of Motoneuronal Connections.New York, Elsevier Publishers, 1991, pp. 405-418; Edgerton, et al., Doesmotor learning occur in the spinal cord? Neuroscientist 3:287-294,1997b; Hodgson, et al., Can the mammalian lumbar spinal cord learn amotor task? Med. Sci. Sports Exerc. 26:1491-1497, 1994.

[0005] Relatively recently, a new rehabilitative strategy, locomotortraining of locomotion impaired subjects using Body Weight SupportTraining (BWST) technique over a treadmill has been introduced andinvestigated as a novel intervention to improve ambulation followingneurologic injuries. Results from several laboratories throughout theworld suggest that locomotor training with a BWST technique over atreadmill significantly can improve locomotor capabilities of both acuteand chronic incomplete spinal cord injured (SCI) patients.

[0006] Current BWST techniques rely on manual assistance of severaltherapists during therapy sessions. Therapists provide manual assistanceto the legs to generate the swing phase of stepping and to stabilize theknee during stance. This manual assistance has several importantscientific and functional limitations. First, the manual assistanceprovided can vary greatly between therapists and sessions. The patients'ability to step on a treadmill is highly dependent upon the skill levelof the persons conducting the training. Second, the therapists can onlyprovide a crude estimate of the required force, torque and accelerationnecessary for a prescribed and desired stepping performance. To date allstudies and evaluations of step training using BWST technique over atreadmill have been limited by the inability to quantify the jointtorques and kinematics of the lower limbs during training. Thisinformation is critical to fully assess the changes and progressattributable to step training with BWST technique over a treadmill.Third, the manual method can require up to three or four physicaltherapists to assist the patient during each training session. Thislabor-intensive protocol is too costly and impractical for widespreadclinical applications.

[0007] There is a need for a mechanized system with sensor-basedautomatic feedback control exists to assist the rehabilitation ofneurally damaged people to relearn the walking capability using the BWSTtechnique over a treadmill. Such a system could alleviate thedeficiencies implied in the currently employed manual assistance oftherapists. A programmable stepper device would utilize robotic armsinstead of three physical therapists. It would provide rapidquantitative measurements of the dynamics and kinematics of stepping. Itwould also better replicate the normal motion of walking for thepatients, with consistency.

SUMMARY OF THE INVENTION

[0008] The invention is a robotic exoskeleton and a control system fordriving the robotic exoskeleton. It includes the method for making andusing the robotic exoskeleton and its control system. The roboticexoskeleton has sensors embedded in it which provide feedback to thecontrol system.

[0009] The invention utilizes feedback from the motion of the legsthemselves, as they deviate from a normal gait, to provide correctivepressure and guidance. The position versus time is sensed and comparedto a normal gait profile. There are various normal profiles based onstudies of the population for age, weight, height and other variables.While the motion of the legs is driven according to a realistic modelhuman gait, additional mechanical assistance is applied to flexor andextensor muscles and tendons at an appropriate time in the gait motionof the legs in order to stimulate the recovery of afferent-efferentnerve pathways located in the lower limbs and in the spinal cord. Thedriving forces applied to move the legs are positioned to induceactivations of these nerve pathways in the lower limbs that activate themajor flexor and extensor muscle groups and tendons, rather than liftingfrom the bottom of the feet.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features and advantages of the invention willbe more apparent from the following detailed description wherein:

[0011]FIG. 1 shows the patient in a body weight suspension training(BWST) modality over a treadmill attached to two pairs of robotic arms,with sensors, which are computer controlled and are directed to trainthe patient to walk again;

[0012]FIG. 2 shows another view of the legs of the patient attached tothe robotic arms which have the acceleration and force/torque sensors inthem;

[0013]FIG. 3 shows a detail of one of the robotic arms with its rotaryand telescopic motions;

[0014]FIG. 4A shows the detail of the ankle and upper leg attachments,as well as a special shoe with pressure sensors in it, and also shownare stimulation means for flexor and extensor muscle groups and tendons;

[0015]FIG. 4B shows a detail of corresponding to FIG. 4A, except thatthe robotic arms and the position of the sensor units are shown,attached between the arms and the ankle and knee attachments to the leg;

[0016]FIG. 5 shows a diagrammatic representation of the interactions ofthe sensors, treadmill speed, individual stepping models, and thecomputational and other algorithms which form the operating control withfeedback part of the system;

[0017]FIG. 6 shows the system of FIG. 1 from a rear three-quarter viewshowing details of the keyboard, display, and hip harness system, bothpassive and active;

[0018]FIG. 7 shows the front three-quarter view corresponding to FIGS. 1and 6, showing other detail of the hip control system and theoff-treadmill recording, display, and off-treadmill control part of thesystem;

[0019]FIG. 8 shows a dual t-bar method for on-treadmill control of hipand body position.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT

[0020] The following description is of the best mode presentlycontemplated for carrying out the invention. This description is not tobe taken in a limiting sense, but is merely made for the purpose ofdescribing the general principles of the invention. The scope of theinvention should be determined with reference to the claims.

[0021] The solution to the above problem is an individually adjustableand automated BWST

[0022] technique using a Programmable Stepping Device (PSD) with modeland sensing based control operating like an exoskeleton on the patients'legs from a fixed base on the treadmill (i) to replace the active andcontinuous participation of currently needing several highly andspecifically trained therapists to conduct the retraining sessions, (ii)to provide a consistent training performance, and (iii) to establish aquantified data base for evaluating patient's progress during locomotortraining.

[0023] The system serves the purpose of assisting and easing therehabilitation of spinal cord, stroke and traumatic brain injured people(as well as others with injury affecting locomotion) to regain, walkingcapabilities. The overall system uses an individually adjustable andsensing based automation of body weight support training (BWST) to trainstanding and locomotion of impaired patients. The system helps them torelearn how to walk on a treadmill which then facilitates relearning towalk overground. It uses an individually adjustable and sensing basedautomation of body weight support training (BWST) approach to trainstanding and locomotion of impaired patients by helping them to relearnhow to walk on a treadmill which then facilitates relearning to walkoverground.

[0024]FIG. 1 and FIG. 2 show two pairs of motor-driven mechanicallinkage units, each unit with two mechanical degrees-of-freedom, areconnected with their drive elements to the fixed base of the treadmillwhile the linkages' free ends are attached to the patient's lowerextremities. Two pairs of motor-driven mechanical linkage units 101,102, 103, 104 each unit with two mechanical degrees-of-freedom, areconnected with their drive elements 105, 106, 107, 108 to the fixed base109 of the treadmill 110 while the linkages' free ends 111, 112, 113,114 are attached to the patient's lower extremities (legs) A1, A2 at twolocations at each leg so that one linkage pair 101, 102 serves one legA1 and the other linkage pair 103,104 serves the other leg A2 in thesagittal plane of bipedal locomotion.

[0025] Thus, this linkage system arrangement 101, 102, 103, 104 iscapable of reproducing the profile of bipedal locomotion and standing inthe sagittal plane from a fixed base 109 which is external to the act ofbipedal locomotion and standing on a treadmill 110.

[0026] The exoskeleton linkage system together with its passivecompliant elements are adjustable to the geometry and dynamic needs ofindividual patients.

[0027] This individual adjustment is implemented in this embodiment withthe control of the linkage system of the programmable stepper device(PSD) computer 115 based, referenced to individual stepping models,treadmill 110 speed, and force/torque and acceleration data (sensorslocated at 111, 112, 113, 114) sensed at the linkages' exoskeletoncontact area with each of the patient's legs 111, 112, 113, 114.

[0028] As seen in FIG. 2 the system concept is built on the use ofspecial two degree-of-freedom (d.o.f) robot arms 101, 103, 102, 104connected to the fixed base of the treadmill where their drive system islocated, while the free end of the robot arms 111, 112, 113, 114 isconnected to the patient's legs like an exoskeleton attachment.

[0029] As shown in FIG. 3, the first (or base) d.o.f (degree of freedom,or, joint) of the robot arms is rotational 301, 302, and the second (orsubsequent) d.o.f, or, joint is linear of telescoping nature 303, 304.The rotational drive elements 105, 106, 107, 108 are represented by 305in FIG. 3. The angular rotational motion indicated by the arrows 301 and302 take place around a pivot point 306. This motion is driven by amotor 307 which is located perpendicular to the plane of rotation 301,302 of the telescoping arm 307, in this aspect of this embodiment. Thetelescoping arm comprises an outer sleeve part 308 and an inner sleevepart 309. In addition a motor 310 for moving the inner sleeve relative309 to the outer sleeve 308, which in this aspect of this embodiment isfixed to the rotating element 305. It should be noted that there areother ways, old in the art, of achieving the two dimensional motion in aplane which the rotating 301, 302, telescoping 303, 304 arm, as justdescribed, which may form a different embodiment as herein presented,but which is equally good at providing the required (motor driven)degrees of freedom.

[0030] The mechanical part of the system uses four such robot arms (101,102), (103, 104), two for assisting each leg of a patient in bipedallocomotion. The two arms are located above each other in a verticalplane coinciding with the sagittal plane of bipedal locomotion.

[0031] The rotational axis of the first joint 305 is perpendicular tothe vertical (sagittal) plane while the linear (telescoping) axis 307 ofthe second joint is parallel to the vertical (sagittal) plane. Thus, thefree end of each arm 111, 112, 113, 114 can move up-down and in-out.These motion capabilities are needed for each arm to jointly reproducethe profile of bipedal locomotion in the sagittal plane from a fixedtreadmill 110 base 109 which is external to the act of bipedallocomotion on a treadmill 110.

[0032]FIG. 4 shows the patients leg A1. A leg support brace 400 isattached to the part of the leg A1 which is above 403 the knee and tothe part of the leg below 404 the knee. As shown there is a freelypivoting pivot joint 401 corresponding the motion of the knee. The legbrace may correspond to a modified commercially available brace such asthe C180 PCL (posterior tibial translation) support offered byInnovation Sports, with a modification. The modification to the legsupport brace is shown as 407. The ankle has a padded custom-madeattachment. In addition, a special shoe 405 containing pressure sensors406 is used on the foot to provide feedback information to the maincomputer 115.

[0033] The arms 101 and 102 attach respectively for patient's leg A1 atthe sensor 451 at the knee via the modification 407 and to the anklearea sensor 452. The exoskeleton supports and moves each leg so as toprovide pressure on extensor surface during stance and flexor surfaceduring swing. The extensor pressure is applied inferior to the patellain the vicinity of the patella tendon which helps locks the knee so asto aid “stance” position of the leg. The flexor pressure is applied inthe vicinity of the hamstring muscles and associated tendons, on theback of the upper leg just above the rear crease of the knee, aiding inthe “swing” part of the step motion.

[0034] An important additional feature is the continuous recording ofthe electrical activity of the muscles in the form of electromyograms(EMGs). These are real-time recordings of the electrical activity of themuscles measured with surface electrodes, or, optionally, with fine wireelectrodes, or with a mix of electrode types.

[0035] The two arms 101, 102 assisting one leg are connected to the legso that the lower arm is attached to the lower limb slightly above theankle while the upper

[0036] arm is attached to the leg near and slightly below the knee. Thisrobot arm arrangement closely imitates a therapist's two-handedinteraction with a patient's one leg A1 during locomotor training on atreadmill. Implied in this robot arm arrangement is the fact that thelower arm 102 is mostly responsible for the control of the lower limbwhile the upper arm 101 is mostly responsible for the upper limbcontrol, though in a coordinated manner, complying with the profile ofbipedal locomotion in the sagittal plane as seen from the front.

[0037] At the front end of each robot arm 101,102,103, 104 near theexoskeleton connection to the leg a combined force/torque andacceleration sensor 45 i, 452 (other two sensors of this type not shown)is mounted which measures the robot arm's interaction with the leg.Potentiometers 350 measuring the arm's position are installed at thedrive motors at the base of the robot arms. Alternative methods, old inthe art, also may be used, including but not limited to, adigitally-read rotating optical disk 351.

[0038] The mechanical elements necessary to properly connect to avariety of legs are adjustable to the geometry of individual patients,including the compliant elements of the system. The described four-armarchitecture permits all active drive elements of each arm (motors,electronics, computer) to be housed on the front end of the treadmill110 in a safe arrangement and safe operation modality. Aspects of thesafe operation modality include limiting switches on the range of motionof the telescoping movements and in the rotating movements of the arms,emergency cut-off switches for both a monitoring therapist and for thepatient. In addition, the leg brace 400 is constructed so that thepivoting joint 401 cannot be bent back so as to hyperextend the knee anddestroy it. The overall construction of the leg brace 400 is such thatit can resist a chosen safety factor, such as four times (4×), themaximum amount of force which the robotic arms with all their motors,can exert to buckle the knee, i.e., the constructed knee joint (for theC180, it is a four bar linkage), which protects the knee fromhyperextension.

[0039] The range of kinematic and dynamic parameters associated with theprogrammable stepping device (PSD) operation are determined from actualmeasurements of the therapists' interaction with the legs of variouspatients during training and from the ideal models, FIG. 5, 551, 552 ofcorresponding healthy persons' bipedal locomotion. The system canmonitor and control each leg independently.

[0040] The control system (FIG. 5, 500) of the PSD is not wired topatients body but rather gets feedback from sensors in the vicinity ofthe ankles (FIG. 4B) 452, the knees 451 and from the (dynamic) pressuresensors 406 in the “shoes” of the apparatus.

[0041] The control system (FIG. 5, 500) is computer based and referencedto (i) individual stepping models 551, 552, (ii) treadmill speed 561,and (iii) force/torque/accelerometer sensor data 541, 542 measured atthe output end of each robot arm. The control software architecture 571,572 is “intelligent” in the sense that it can distinguish between theforce/torque generated by the patient's muscles, by the treadmill 110,and by the robot arms' drive motors 310 (others not shown) in order tomaintain programed normal stepping on the treadmill.

[0042] The patient's contact force with the revolving treadmill belt ispre-adjustable through the BEST harness (FIG. 6, FIG. 7, 600) dependentupon body weight and size. The proper adjustment can be automaticallymaintained during motion by utilizing a proper force/pressure system onthe harness 600. The harness system may be passive with respect to thehip placement of the patient, in so far as it provides for constraintvia somewhat elastic belts, or cords, (FIG. 6) 621, 622, 623; (FIG. 7)624. A more active adjustment system is also used, in a different aspectof an embodiment of this invention. FIG. 8 shows the use of dual T-bars801 and 802 where the T-bars are adjustable, as shown by the curved andstraight arrows, by controlled motors 821, 822, 823, 824. Other activemethods of control of the hips, utilize stepping, or other, motors onthe belts (FIG. 6) 621, 622, 623, as 6211, 6221, 6231) and (FIG. 7) 624as 6241. The use of special sensor 406 shoes 405 also provides feedbackfor the adjustment of body weight in contact with the treadmill 110. Theoverall control system operates in a wireless configuration relative tothe patient's body. The algorithms for the system include, in someaspects of an embodiment of the invention, neural network algorithms, insoftware and/or in hardware implementation, to “learn” aspects of thepatient's gait, either when strictly mediated by the robotic system, or,when therapists move the patient through the “proper motions” while therobotic system is acting passively, except for measurements being madeby sensors 406 and 451 and 452 and the electromyogram (EMG)s and thecorresponding sensors on the other leg (not shown).

[0043] A keyboard (FIG. 6, 701) and monitor (FIGS. 6, 7) 702 attached tothe treadmill 110 enables the user to input selected kinematic anddynamic stepping parameters to the computer-based control andperformance monitor system. The term user, here, covers the patientand/or a therapist and/or a physician and/or an assistant. The userinterface to the system is implemented by a keybord/monitor setup 701,702 attached to the front of the treadmill 110, easily reachable by thepatient, as long as the patient has enough use of upper limbs. Itenables the user (therapist or patient) to input selected kinematic anddynamic stepping parameters and treadmill speed to the control andmonitor system. A condensed stepping performance can also be viewed onthis monitor interface in real time, based on preselected performanceparameters.

[0044] An externally located digital monitor system 731 displays thepatient's stepping performance in selected details in real time.

[0045] A data recording system 741 enables the storage of all trainingrelated and time based and time coordinated data, includingelectromylogram (EMG) signals, for off-line diagnostic analysis. Thearchitecture of the data recording part of the system enables thestorage of all training related and time based and time coordinateddata, including electromyogram (EMG), torque and position signals, foroff-line diagnostic analysis of patient motion, dependencies andstrengths, in order to provide a comparison to expected patterns ofnondisabled subjects. The system will be capable of adjusting orcorrecting for measured abnormalities in the patient's motion.

[0046] An important part of this embodiment of the invention is theprovision for the extra-stimulation of designated and associated tendongroup areas. For example, when the leg is being raised, flexor andassociated tendons in the lower hamstring area on the back of the legare optionally subject to vibration or another type ofextra-stimulation. (See FIG. 4A, 471, 472) This is thought to strengthenthe desired nerve pathways to allow the patient to develop towardoverground locomotion. Therapeutic stimulators 471, 472, which may bevibrators, is shown in FIG. 4A.

[0047] The overall system is designed to minimize the externalmechanical load acting on the patient while maximizing the workperformed by the patient to generate effective stepping and standingduring treadmill training.

[0048] Operation safety is assured by proper stop conditions implementedin the control software and in the electrical and mechanical controlhardware. The patient's embarkment to and disembarkment from theProgrammable Stepping Device (PSD) is a manual operation in all cases.

[0049] While the invention herein disclosed has been described by meansof specific embodiments and applications thereof, numerous modificationsand variations could be made thereto by those skilled in the art withoutdeparting from the scope of the invention set forth in the claims.

1. A system for assisting and easing the rehabilitation of spinal cord,stroke and traumatic brain injured people (as well as others with injuryaffecting locomotion) to regain walking capabilities comprising (a) anindividually adjustable automated body weight suspension trainingsystem; (b) multiple sensors wherein said sensors provide feedback toadjust the automated body weight suspension training system.
 2. Thesystem of claim 1 further comprising: (a) two pairs of motor-drivenmechanical linkage units; (b) each of said units with two mechanicaldegrees-of-freedom; (c) said units connected with their drive elementsto a fixed base of a treadmill; (d) said linkages' free ends whereinsaid free ends are attachable to the patient's legs at two locations ateach leg; wherein one linkage pair serves one leg in the sagittal planeof bipedal locomotion; and wherein the other linkage pair serves theother leg in the sagittal plane of bipedal locomotion.
 3. The system ofclaim 1 further comprising: (a) an exoskeleton linkage system with itspassive compliant elements wherein said exoskeleton linkage system withits passive compliant elements are adjustable to an individual patient'sgeometry and dynamics.
 4. The system of claim 3 further comprising: saidlinkage system arrangement wherein said linkage system arrangement iscapable of reproducing the profile of bipedal locomotion and standing inthe sagittal plane, from a fixed base.
 5. The system of claim 1 furthercomprising: (a) a control system for a programmable stepping device; (b)said computer based control system of a linkage system of theprogrammable stepping device; (c) said control system referenced toindividual stepping models, treadmill speed, and force, torque,electromyogram (EMG) and acceleration data; (d) said data sensed at thelinkages' exoskeleton contact area with each of the patient's legs. 6.The system of claim 1 further comprising: (a) control algorithms of theexoskeleton linkages' computer control system (b) said controlalgorithms being “intelligent” control for biped locomotion wherein saidalgorithms distinguish between the amount and direction of theforce/torque generated by the patient, by the feet's contact with thetreadmill, and by the action of the programmable stepping device; (c)said control system monitoring and controlling each leg independently.7. The system of claim 1 further comprising: said control systemoperating by way of feedback through sensors for force, torque,acceleration, and pressure located at various points on or in theexoskeleton system; wherein no wires are required to go to the humanbody.
 8. The system of claim 1 further comprising: a keyboard attachedto the treadmill wherein the user, one or more, selected from the groupconsisting of patient, therapist, physician and assistant can inputselected kinematic and dynamic stepping parameters to saidcomputer-based control system.
 9. The system of claim 1 furthercomprising: an externally located digital monitor system wherein thepatient's stepping performance is selectively displayed in real time.10. The system of claim 1 further comprising: a data recording systemwherein the storage of all training related and time based and timecoordinated data, including electromyogram (EMG) signals, for off-linediagnostic analysis is enabled.
 11. The system of claim 1 furthercomprising: (a) a minimized external mechanical load acting on thepatient; (b) a maximized work performed by the patient in generatingeffective stepping and standing during treadmill training.
 12. Thesystem of claim 1 further comprising: (a) a stimulator for applyingstimulation to selected flexor muscles and associated tendons; (b) astimulator for applying stimulation to selected extensor muscles andassociated tendons.
 13. The system of claim 12 wherein said stimulatorsfor applying stimulation to selected flexor and extensor muscles andassociated tendons are vibrating stimulators.
 14. The system of claim 1further comprising: an active system for positioning the hips.
 15. Thesystem of claim 14 further comprising: said active system whereincontrolled dual T-bars position the hips.
 16. The system of claim 14further comprising: said active system wherein motorized semi-elasticbelts position the hips.
 17. An apparatus for rehabilitation of spinalcord, stroke and traumatic brain injured people (as well as others withinjury affecting locomotion) to regain walking capabilities comprising:(a) an individually adjustable automated body weight suspension trainingapparatus; (b) multiple sensors wherein said sensors provide feedback toadjust the automated body weight suspension training apparatus; (c) twopairs of motor-driven mechanical linkage units; (d) each of said unitswith two mechanical degrees-of-freedom; (e) said units connected withtheir drive elements to a fixed base of a treadmill; (f) said linkages'free ends wherein said free ends are attachable to the patient's legs attwo locations at each leg; wherein one linkage pair serves one leg inthe sagittal plane of bipedal locomotion; and wherein the other linkagepair serves the other leg in the sagittal plane of bipedal locomotion.18. The apparatus of claim 17 further comprising: (a) an exoskeletonlinkage system with its passive compliant elements wherein saidexoskeleton linkage system with its passive compliant elements areadjustable to an individual patient's geometry and dynamics; (b) saidlinkage system arrangement wherein said linkage system arrangement iscapable of reproducing the profile of bipedal locomotion and standing inthe sagittal plane, from a fixed base.
 19. The apparatus of claim 17further comprising: (a) a control system for a programmable steppingdevice; (b) said computer based control system of a linkage system ofthe programmable stepping device; (c) said control system referenced toindividual stepping models, treadmill speed, and force, torque,electromyogram (EMG) and acceleration data; (d) said data sensed at thelinkages' exoskeleton contact area with each of the patient's legs. 20.The apparatus of claim 17 further comprising: (a) control algorithms ofthe exoskeleton linkages' computer control system (b) said controlalgorithms being “intelligent” control for biped locomotion wherein saidalgorithms distinguish between the amount and direction of theforce/torque generated by the patient, by the feet's contact with thetreadmill, and by the action of the programmable stepping device; (c)said control system monitoring and controlling each leg independently.(d) said control system operating by way of feedback through sensors forforce, torque, electromyogram (EMG), acceleration, and pressure locatedat various points on or in the exoskeleton system; wherein no wires arerequired to go to the human body.
 21. The apparatus of claim 17 furthercomprising: (a) a keyboard attached to the treadmill wherein the user,one or more, selected from the group consisting of patient, therapist,physician and assistant, can input selected kinematic and dynamicstepping parameters to said computer-based control system; (b) anexternally located digital monitor system wherein the patient's steppingperformance is selectively displayed in real time; (c) a data recordingsystem wherein the storage of all training related and time based andtime coordinated data, including electromyogram (EMG) signals, foroff-line diagnostic analysis is enabled.
 22. The apparatus of claim 17further comprising: (a) a minimized external mechanical load acting onthe patient; (b) a maximized work performed by the patient in generatingeffective stepping and standing during treadmill training.
 23. Thesystem of claim 17 further comprising: (a) a stimulator for applyingstimulation to selected flexor and associated tendons; (b) a stimulatorfor applying stimulation to selected extensor muscles and associatedtendons.
 24. The system of claim 23 wherein said stimulators forapplying stimulation to selected flexor and extensor muscles arevibrating stimulators.
 25. The apparatus of claim 17 further comprising:an active system for positioning the hips.
 26. The apparatus of claim 25further comprising: said active system wherein controlled dual T-barsposition the hips.
 27. The apparatus of claim 25 further comprising:said active system wherein motorized semi-elastic belts position thehips.
 28. A method for assisting and easing the rehabilitation of spinalcord, stroke and traumatic brain injured people (as well as others withinjury affecting locomotion) to regain walking capabilities comprisingthe steps of: (a) providing an individually adjustable automated bodyweight suspension training system; (b) operating multiple sensorswherein said sensors provide feedback to adjust the automated bodyweight suspension training system.
 29. The method of claim 28 furthercomprising the steps of: (a) utilizing two pairs of motor-drivenmechanical linkage units; (b) having each of said units with twomechanical degrees-of-freedom; (c) connecting said units with theirdrive elements to a fixed base of a treadmill; (d) attaching saidlinkages' free ends the patient's legs at two locations at each leg; (e)serving one leg in the sagittal plane of bipedal locomotion with a firstlinkage pair; (f) serving the other leg in the sagittal plane of bipedallocomotion with a second linkage.
 30. The method of claim 28 furthercomprising the step of: (a) adjusting an exoskeleton linkage system withits passive compliant elements to an individual patient's geometry anddynamics.
 31. The method of claim 28 further comprising the step of (a)arranging said linkage system; (b) reproducing the profile of bipedallocomotion; (c) standing in the sagittal plane, from a fixed base. 32.The method of claim 28 further comprising the steps of: (a) controlling,with a computer-based control system, a programmable stepping device;(b) controlling, with a computer-based control system, a linkage systemof the programmable stepping device; (c) referencing said control systemto individual stepping models, treadmill speed, and force, torque,electromyogram (EMG) and acceleration data; (d) sensing said data at thelinkages' exoskeleton contact area with each of the patient's legs. 33.The method of claim 28 further comprising the steps of: (a) controlalgorithms of the exoskeleton linkages' computer control system (b)utilizing control algorithms for “intelligent” control for bipedlocomotion wherein said algorithms distinguish between the amount anddirection of the force/torque generated by the patient, by the feet'scontact with the treadmill, and by the action of the programmablestepping device; (c) monitoring and controlling each leg independently.34. The method of claim 28 further comprising the steps of: (a)operating said control system by way of feedback through sensors forforce, torque, acceleration, and pressure located at various points onor in the exoskeleton system; (b) requiring no wires to attach to thehuman body.
 35. The method of claim 28 further comprising the step of:attaching a keyboard to the treadmill wherein the user, one or more,selected from the group consisting of patient, therapist, physician andassistant can input selected kinematic and dynamic stepping parametersto said computer-based control system.
 36. The method of claim 28further comprising the step of: utilizing an external digital monitorsystem wherein the patient's stepping performance is selectivelydisplayed in real time.
 37. The method of claim 28 further comprisingthe step of: utilizing a data recording system wherein the storage ofall training related and time based and time coordinated data, includingelectromyogram (EMG) signals, for off-line diagnostic analysis isenabled.
 38. The method of claim 28 further comprising the steps of: (a)minimizing an external mechanical load acting on the patient; (b)maximizing work performed by the patient in generating effectivestepping and standing during treadmill training.
 39. The method of claim28 further comprising the steps of: (a) applying stimulation to selectedflexormuscles and associated tendons; (b) applying stimulation toselected extensormuscles and associated tendons.
 40. The system of claim39 further comprising the step of vibrating said selected flexor andextensormuscles and associated tendons for said stimulation.
 41. Themethod of claim 28 further comprising the step of: positioning,actively, the hips.
 42. The method of claim 28 further comprising thestep of: controlling, actively, the hips with dual T-bars.
 43. Themethod of claim 28 further comprising the step of: controlling,actively, the hips with motorized semi-elastic belts.
 44. A method ofusing a system for assisting and easing the rehabilitation of spinalcord, stroke and traumatic brain injured people (as well as others withinjury affecting locomotion) to regain walking capabilities comprisingthe steps of: (a) fitting the patient into the attachment units for thepatient's legs and adjusting the system for the patient's upper andlower leg lengths, body weight, height, and other parameters of fitting;(b) fitting and adjusting the patient's hip restraints; (c) fitting thestimulating units to the surface of desired flexor and extensor musclegroup areas; (d) turning on the system and allowing it to move thepatient's legs with any appropriate additional motion required forpatient's hip s or upper body; (e) applying stimulation to the desiredflexor and extensor muscle group areas at appropriate sequential times;(f) turning off the system and releasing patient from fittings andmanually assisting patient from a treadmill.
 45. The method of using ofclaim 44 further comprising the step of: stimulating selected flexor andextensor muscles and associated tendons.
 46. The method of using ofclaim 45 further comprising the step of: applying vibration to stimulatesaid selected flexor and extensor muscles and associated tendons. 47.The method of using of claim 45 further comprising the step of:positioning, actively, the hips.
 48. The method of using of claim 45further comprising the step of: controlling, actively, the hips withdual T-bars.
 49. The method of using of claim 45 further comprising thestep of: controlling, actively, the hips with motorized semi-elasticbelts.